Evaluation of haptic in robotic heart surgery

Schirmbeck, Eva U.; Hasselbeck, Constanze; Mayer, Hermann; Nágy, I.; Knoll, Alois; Freyberger, F.; Popp, Michael; Wildhirt, Steffen; Lange, Rüdiger; Bauernschmitt, Robert

doi:10.1016/j.ics.2005.03.037

Cited by 5 publications

(2 citation statements)

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“…Gosselin [1] applied haptic systems and virtual reality technology for maxillofacial surgery training systems, where based on the force feedback from sensors, supervisors were able to evaluate the skill levels of the trainees. Schirmbeck [2] introduced the tele-manipulator system into cardiac surgery where the tactile force keeps the critical role in controlling the endoscopic procedures. Nakao et al [3] simulated the cardiovascular surgery based on haptic reproduction and interactive visualisation of the beating heart.…”

Section: Introductionmentioning

confidence: 99%

Haptic driving system for surge motion control of underwater remotely operated vehicles

Nguyen

Ranthumugala

et al. 2014

Proceedings of 2014 International Conference on Modelling, Identification &Amp; Control

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This p a p er p resents the develo p ment of a ha p tic driving system for underwater Remotely Operated Vehicles (ROVs). Unlike conventional ROV driving systems, which only transmit commands from the p ilots to the vehicle controller, the proposed haptic device has the ability to provide information about the working environment back to the operator via tactile sensing. In this paper, the drag force generated by the fluid interaction is chosen as the feedback objective for the haptic control. Hence, the haptic device helps the operator to sense the drag force via feedback through the joystick. A one degree of freedom (l-DOF) haptic joystick was developed to first control the surge motion of a simulated ROV model, with future work aimed at evaluation on an actual vehicle. The results of the haptic controller linked to the simulation model proved the feedback ability of the controller and identified areas of im p rovement, especially with regard to noise filtering.

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Section: Introductionmentioning

confidence: 99%

Haptic driving system for surge motion control of underwater remotely operated vehicles

Nguyen

Ranthumugala

et al. 2014

Proceedings of 2014 International Conference on Modelling, Identification &Amp; Control

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“…Telerobotic surgery is another emerging area of haptic interfaces where high precision manipulators are employed to conduct real-time operations [5][6][7][8]. In those applications, haptic interfaces are integrated with the robotic systems to compensate for surgeons' lack of tactile sense [9,10]. Haptic interfaces are also customized for physical therapy and rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Development and investigation of a semi-active polar planar haptic interface using the digital resistance map concept

Asadi¹,

Arzanpour²

2014

Smart Mater. Struct.

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The growing demand for haptic technologies in recent years has motivated novel approaches in developing haptic interfaces and control algorithms. Semi-active haptic interfaces, in general, have the advantage of addressing safety concerns which adversely affect their active counterparts. This paper presents the development of a planar semi-active haptic interface using magnetorheological (MR) dampers. The ability of MR dampers to produce controllable resistance forces is the key reason for their utilization in the proposed haptic interface. The proposed planar semi-active haptic interface consists of linear and rotary MR dampers. Each of the MR dampers is modeled experimentally using the Bouc–Wen model. A haptic rendering algorithm called the digital resistance map (DRM) is also developed to control MR dampers. DRM is a high-fidelity haptic rendering algorithm, and proved to be effective to create comprehensive force feedback for operators. MATLAB/Simulink® is used for implementing several DRM scenarios for generating haptic enabled virtual environments. The experimental results demonstrate the effectiveness of the proposed haptic interface and rendering algorithm.

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